Ocean Engineering最新文献

英文中文

Design and experiments of an adaptive disturbance observer for tracking control of autonomous underwater vehicles

IF 4.6 2区工程技术 Q1 ENGINEERING, CIVIL

Ocean Engineering

Pub Date : 2025-02-03 DOI: 10.1016/j.oceaneng.2025.120511

Jesus Guerrero , Ahmed Chemori , Vincent Creuze , Jorge Torres

Underwater vehicles, controlled by human operators, often employ a simple internal control scheme, such as the Proportional Derivative (PD) controller. The choice of a PD controller is driven by its simplicity, ease of implementation, and acceptable reliability. However, this type of controller often exhibits limited robustness when facing parametric uncertainties (e.g., salinity variations) and external disturbances, such as sea waves. Motivated by these inherent limitations, we designed an adaptive disturbance observer using the Super-Twisting Algorithm. The primary objective of this observer is to enhance the robustness of the PD controller without compromising its simple and straightforward structure and minimizing the effort required for its tuning. Our proposed observer takes inspiration from the Extended State Observer (ESO) and is supported by a rigorous stability analysis using Lyapunov techniques. We also establish the stability of the closed-loop system involving the controller and observer. To showcase the effectiveness and reliability of our proposed method, we carried out a set of real-time experiments under various operating conditions.

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引用次数: 0

Optimal feedback control parameters for underwater gliders: Balancing energy efficiency and motion accuracy

IF 4.6 2区工程技术 Q1 ENGINEERING, CIVIL

Ocean Engineering

Pub Date : 2025-02-03 DOI: 10.1016/j.oceaneng.2025.120544

Yang Song , Wendong Niu , Weichao Shi , Hongyu Wu , Yunxin Xu

Energy consumption and motion accuracy are two critical factors for evaluating the performance of underwater gliders. While motion accuracy can be improved through the implementation of feedback controllers, such an approach often results in increased energy consumption due to frequent intervention. Thus, there exists a contradiction between energy consumption and motion accuracy. This study aims to optimize the controller parameters of underwater gliders to minimize energy consumption while maximizing the accuracy of gliding motion. To achieve this, an Energy Consumption Model (ECM) and a Motion Accuracy Evaluation Index (MAEI) are developed. An optimization method, based on Pareto optimality and the non-dominated sorting genetic algorithm II, is proposed to balance energy consumption and motion accuracy. A glider mission is simulated to assess the performance of the developed method. The results demonstrate the effectiveness of the proposed approach in generating optimal controller parameters for diverse control objectives, thus enabling quick determination of the controller parameters. This study contributes to the improvement of underwater glider control strategies and facilitates their application in various underwater missions.

{"title":"Optimal feedback control parameters for underwater gliders: Balancing energy efficiency and motion accuracy","authors":"Yang Song , Wendong Niu , Weichao Shi , Hongyu Wu , Yunxin Xu","doi":"10.1016/j.oceaneng.2025.120544","DOIUrl":"10.1016/j.oceaneng.2025.120544","url":null,"abstract":"<div><div>Energy consumption and motion accuracy are two critical factors for evaluating the performance of underwater gliders. While motion accuracy can be improved through the implementation of feedback controllers, such an approach often results in increased energy consumption due to frequent intervention. Thus, there exists a contradiction between energy consumption and motion accuracy. This study aims to optimize the controller parameters of underwater gliders to minimize energy consumption while maximizing the accuracy of gliding motion. To achieve this, an Energy Consumption Model (ECM) and a Motion Accuracy Evaluation Index (MAEI) are developed. An optimization method, based on Pareto optimality and the non-dominated sorting genetic algorithm II, is proposed to balance energy consumption and motion accuracy. A glider mission is simulated to assess the performance of the developed method. The results demonstrate the effectiveness of the proposed approach in generating optimal controller parameters for diverse control objectives, thus enabling quick determination of the controller parameters. This study contributes to the improvement of underwater glider control strategies and facilitates their application in various underwater missions.</div></div>","PeriodicalId":19403,"journal":{"name":"Ocean Engineering","volume":"322 ","pages":"Article 120544"},"PeriodicalIF":4.6,"publicationDate":"2025-02-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143167212","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Experimental investigation of tidal bore-like unsteady flow interaction with solitary spur dike

IF 4.6 2区工程技术 Q1 ENGINEERING, CIVIL

Ocean Engineering

Pub Date : 2025-02-03 DOI: 10.1016/j.oceaneng.2025.120520

D. Nandhini , Holger Schüttrumpf , S. Harish , K. Murali

In a river and estuarine region dominated by strong tidal bores, spur dikes play a crucial role in influencing both hydrodynamics and morphodynamics. The present study experimentally quantifies the hydrodynamics around a solitary spur dike during tidal bore-like unsteady flow interaction by varying the flow Froude number (Fr) and relative dike height (h_d/h). During the tidal bore interaction with the spur dike, splashing occurred during bore impact, followed by continuous overflow, resulting in a significant difference in flow characteristics in the spur dike vicinity during the quasi-steady flow phase. Fr and h_d/h positively correlated with the upstream water elevation (backwater rise) and negatively correlated at the downstream region. At the head region, the backwater upstream and the overtopped flow together dictated the flow characteristics. Empirical equations for predicting the flow characteristics (bore depth and velocity) around the spur dike during tidal bore interaction are obtained through the non-linear multivariate regression analysis. At high Fr and high h_d/h conditions, the spur dike was found to effectively reduce the tidal bore energy at the downstream region by nearly 25% due to high turbulence intensity. Overall, the paper provides quantitative and qualitative discussion on tidal bore hydrodynamics and the variation in the tidal bore energy around a solitary spur dike for engineering design and operational appraisal.

{"title":"Experimental investigation of tidal bore-like unsteady flow interaction with solitary spur dike","authors":"D. Nandhini , Holger Schüttrumpf , S. Harish , K. Murali","doi":"10.1016/j.oceaneng.2025.120520","DOIUrl":"10.1016/j.oceaneng.2025.120520","url":null,"abstract":"<div><div>In a river and estuarine region dominated by strong tidal bores, spur dikes play a crucial role in influencing both hydrodynamics and morphodynamics. The present study experimentally quantifies the hydrodynamics around a solitary spur dike during tidal bore-like unsteady flow interaction by varying the flow Froude number (Fr) and relative dike height (<em>h</em><sub><em>d</em></sub><em>/h</em>). During the tidal bore interaction with the spur dike, splashing occurred during bore impact, followed by continuous overflow, resulting in a significant difference in flow characteristics in the spur dike vicinity during the quasi-steady flow phase. Fr and <em>h</em><sub><em>d</em></sub><em>/h</em> positively correlated with the upstream water elevation (backwater rise) and negatively correlated at the downstream region. At the head region, the backwater upstream and the overtopped flow together dictated the flow characteristics. Empirical equations for predicting the flow characteristics (bore depth and velocity) around the spur dike during tidal bore interaction are obtained through the non-linear multivariate regression analysis. At high Fr and high <em>h</em><sub><em>d</em></sub><em>/h</em> conditions, the spur dike was found to effectively reduce the tidal bore energy at the downstream region by nearly 25% due to high turbulence intensity. Overall, the paper provides quantitative and qualitative discussion on tidal bore hydrodynamics and the variation in the tidal bore energy around a solitary spur dike for engineering design and operational appraisal.</div></div>","PeriodicalId":19403,"journal":{"name":"Ocean Engineering","volume":"322 ","pages":"Article 120520"},"PeriodicalIF":4.6,"publicationDate":"2025-02-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143167716","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Dynamic event-triggered adaptive neural prescribed performance control for dynamic positioning of vessels under input time-delay

IF 4.6 2区工程技术 Q1 ENGINEERING, CIVIL

Ocean Engineering

Pub Date : 2025-02-03 DOI: 10.1016/j.oceaneng.2025.120503

Zhipeng Liu , Qingtao Gong , Xin Hu

This paper presents a dynamic event-triggered adaptive neural prescribed performance control scheme for dynamic positioning systems of vessels in the presence of input time-delay and unknown time-varying ocean disturbances. First, a neural network is employed to compensate for the state time-delay term that is caused by the input time-delay. Second, the adaptive laws are designed to obtain estimates of the weights of neural networks as well as the bounds of the unknown time-varying ocean disturbances. By means of the prescribed performance error transformation, the dependency on priori knowledge of error initial values is overcome, and the stable transient and steady-state performance within the prescribed bounds are guaranteed. Then, a dynamic event-triggered mechanism is introduced to avoid unnecessary control operations and reduce the control burden. The backstepping design technique is utilized to derive the final control law such that the position and heading of vessels can be positioned on reference values under input time-delay and ocean disturbances. The highlights of this work lie in ensuring both high control performance and low control energy consumption simultaneously. The stability of closed-loop control systems is proved through the application of Lyapunov’s stability theory. Finally, the simulation results for two full-scale vessels validate the effectiveness.

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引用次数: 0

A multi-scale approach for scour time development at monopiles due to currents

IF 4.6 2区工程技术 Q1 ENGINEERING, CIVIL

Ocean Engineering

Pub Date : 2025-02-03 DOI: 10.1016/j.oceaneng.2025.120504

N.F. Silva-Muñoz, Y.B. Broekema

Scour time development is traditionally predicted using a two-parameter model, where the scouring process is schematized with an equilibrium depth and a time scale. In this study, we demonstrate that a four-parameter model to determine scour time development around monopiles will lead to significant improvements in accuracy of the prediction. The physical interpretation of this is that different primary hydrodynamic forcing mechanisms induce scour during different phases of the scouring process. The first, rapid phase of development, is associated with large amplification of the flow around the pile due to obstruction which leads to quick scouring. The second, slow phase of development is associated with a more steady horseshoe vortex and influence of the scour hole on the mean flow field which lead to slower development of the scour depth. In this study, we make use of various different datasets existing in literature to demonstrate that the overall time-evolution of scour fits significantly better when assuming that there are two development phases, each with their own distinct timescales. The results of this study may be particularly interesting for temporary structures, where an accurate prediction of time development in the first rapid phase is required.

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引用次数: 0

Functional Resonance Analysis Method (FRAM)-based minimum spanning tree for identifying safety critical points and designing safety barriers in LNG off-loading operations

IF 4.6 2区工程技术 Q1 ENGINEERING, CIVIL

Ocean Engineering

Pub Date : 2025-02-03 DOI: 10.1016/j.oceaneng.2025.120542

Renyou Zhang , Mengjie Shi , Rabiul Islam , Shanguang Chen , Wei Xv , Zhiqiang Hou

The off-loading process during the transportation of Liquefied Natural Gas (LNG) is a complex and high-risk operation. Therefore, conducting a safety analysis is critical to identify safety points and implement targeted safety measures. Standard safety analysis methods such as fault tree analysis and event tree analysis are based on a theoretical approach called Work As Imagine (WAI) mode. Specifically, the task and accident processes are often designed by people rather than reflecting actual practices, which means that WAI mode struggles to account for many unpredictable scenarios. An alternative method, the Function Resonance Analysis Method (FRAM) based on the Work-As-Done (WAD) can consider unpredictable situations by analyzing the couplings among different functions required in the task. However, due to the complexity of the tasks involved in LNG off-loading work, the FRAM model can also be complicated. Therefore, this study proposes a solution to simplify this complex model. The study first uses FRAM to construct a comprehensive network model in the LNG off-loading process. Then, Prim's algorithm is applied to provide a minimum spanning tree (MST) analysis to simplify this complex model and locate the safety critical point. In addition, as there is a lack of source data for Prim's algorithm application, the definition of risk as support to collect PSF data through two aspects of likelihood and severity, to ensure the data is explainable. The results show that this proposed method provides a better functional view for locating safety-critical points and barrier-making in a real engineering case of shipping LNG off-loading work, and effectively reduces the complexity of the LNG off-loading system. This study will help to enhance safety of LNG off-loading operations.

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引用次数: 0

Modelling wave-seabed-pipe interaction through centrifuge experiment and a double-layered fluid model

IF 4.6 2区工程技术 Q1 ENGINEERING, CIVIL

Ocean Engineering

Pub Date : 2025-02-03 DOI: 10.1016/j.oceaneng.2025.120506

Siyang Su , Jingshan Zhu , Deqiong Kong , Zhenyi Li , Bin Zhu , Yunmin Chen

The response of seabed subject to wave loading and the corresponding impact on the stability of offshore geotechnical facilities have attracted worldwide research attention. This paper introduces a novel numerical analysis procedure, called the double-layered fluid (DLF) method, for the assessment of such problems. It combines the advantage of finite element analysis with sophisticated constitutive model and the moving boundary analysis considering the fluidic features of liquefied seabed soil. Validation is achieved through comparison with published numerical and experimental results, as well as a centrifuge test newly conducted by the authors. Following that, the capability of the DLF method in capturing the variation of wave characteristics during seabed liquefaction is demonstrated. A parametric study is presented to examine the development of excess pore pressure in the seabed around and away from a pipe, and the degradation effect on the bearing capacity. In the very loose or very dense sands, the uplift capacity of a pipe buried in the seabed reaches constant values during several couples of wave cycles, but keeps decreasing in the medium ones. The results demonstrate that the most vulnerable plane of pipe-soil interaction deviates from the upright direction and rotates towards the direction opposite to wave propagation.

{"title":"Modelling wave-seabed-pipe interaction through centrifuge experiment and a double-layered fluid model","authors":"Siyang Su , Jingshan Zhu , Deqiong Kong , Zhenyi Li , Bin Zhu , Yunmin Chen","doi":"10.1016/j.oceaneng.2025.120506","DOIUrl":"10.1016/j.oceaneng.2025.120506","url":null,"abstract":"<div><div>The response of seabed subject to wave loading and the corresponding impact on the stability of offshore geotechnical facilities have attracted worldwide research attention. This paper introduces a novel numerical analysis procedure, called the double-layered fluid (DLF) method, for the assessment of such problems. It combines the advantage of finite element analysis with sophisticated constitutive model and the moving boundary analysis considering the fluidic features of liquefied seabed soil. Validation is achieved through comparison with published numerical and experimental results, as well as a centrifuge test newly conducted by the authors. Following that, the capability of the DLF method in capturing the variation of wave characteristics during seabed liquefaction is demonstrated. A parametric study is presented to examine the development of excess pore pressure in the seabed around and away from a pipe, and the degradation effect on the bearing capacity. In the very loose or very dense sands, the uplift capacity of a pipe buried in the seabed reaches constant values during several couples of wave cycles, but keeps decreasing in the medium ones. The results demonstrate that the most vulnerable plane of pipe-soil interaction deviates from the upright direction and rotates towards the direction opposite to wave propagation.</div></div>","PeriodicalId":19403,"journal":{"name":"Ocean Engineering","volume":"322 ","pages":"Article 120506"},"PeriodicalIF":4.6,"publicationDate":"2025-02-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143167213","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Damage analyses of the main pylon of a suspension bridge under ship impact using fiber beam elements

IF 4.6 2区工程技术 Q1 ENGINEERING, CIVIL

Ocean Engineering

Pub Date : 2025-02-03 DOI: 10.1016/j.oceaneng.2025.120459

Wei Wang, Zhichen Fang, Jiahui Fu, Shuai Wang, Rongxin Zhou

Ship–bridge collisions frequently occur, damaging bridges over waterways, causing traffic disruptions and, in severe cases, leading to collapses that endanger the safety of individuals on the bridge. While many studies have advanced the understanding of ship–bridge collisions, there remains a need for deeper exploration of large ship collisions with major sea-crossing bridges, which pose distinct challenges due to their scale and structural complexity. In this research, numerical simulations are employed to analyze a typical suspension bridge, assessing both its dynamic response and the extent of damage incurred during a ship–bridge collision. While high-resolution finite element (FE) models are computationally expensive in terms of time and resources, a nonlinear simplified model of the suspension bridge is developed using fiber beam elements, whose modeling method is validated against experimental results. Several collision scenarios are then considered to analyze the bridge’s failure mode, identifying the most critically damaged position. To quantify the damage level of the bridge, a curvature-based multi-stage damage model is introduced. Additionally, preliminary analyses are conducted by adjusting the ship’s speed, mass, and impact angle to evaluate the bridge’s damage under different collision scenarios. The findings in this study can be used to guide the damage evaluation of bridges under ship impact.

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引用次数: 0

Experimental research on ultimate strength behaviors of cracked plates under uniaxial cyclic load

IF 4.6 2区工程技术 Q1 ENGINEERING, CIVIL

Ocean Engineering

Pub Date : 2025-02-03 DOI: 10.1016/j.oceaneng.2025.120514

Tian Xia , Ping Yang , Huwei Cui , Yuelin Song

This study aims to investigate the ultimate strength behaviors of cracked hull plates under uniaxial cyclic load using an experimental method. Test results of the elastic-plastic property, accumulative plastic damage, crack propagation rate and bearing capacity were obtained by conducting a series of model experiments on plate specimens. The affecting regularity of five load patterns on the accumulative plastic deformation, fatigue crack propagation and bearing capacity was mainly discussed. While the load patterns were designed to approximately simulate the possible wave loads hull plates may bear in actual sea conditions. The effects of accumulative plastic damage and fatigue crack damage on the ultimate strength were considered simultaneously. An equivalent numerical simulation method was developed to simplify the large number of cycles. The accuracy and rationality of the numerical simulation method were also verified. A few new insights were revealed for hull thick plates, which will be some fundamental foresights for the authors’ further experimental study on cracked stiffened plates.

{"title":"Experimental research on ultimate strength behaviors of cracked plates under uniaxial cyclic load","authors":"Tian Xia , Ping Yang , Huwei Cui , Yuelin Song","doi":"10.1016/j.oceaneng.2025.120514","DOIUrl":"10.1016/j.oceaneng.2025.120514","url":null,"abstract":"<div><div>This study aims to investigate the ultimate strength behaviors of cracked hull plates under uniaxial cyclic load using an experimental method. Test results of the elastic-plastic property, accumulative plastic damage, crack propagation rate and bearing capacity were obtained by conducting a series of model experiments on plate specimens. The affecting regularity of five load patterns on the accumulative plastic deformation, fatigue crack propagation and bearing capacity was mainly discussed. While the load patterns were designed to approximately simulate the possible wave loads hull plates may bear in actual sea conditions. The effects of accumulative plastic damage and fatigue crack damage on the ultimate strength were considered simultaneously. An equivalent numerical simulation method was developed to simplify the large number of cycles. The accuracy and rationality of the numerical simulation method were also verified. A few new insights were revealed for hull thick plates, which will be some fundamental foresights for the authors’ further experimental study on cracked stiffened plates.</div></div>","PeriodicalId":19403,"journal":{"name":"Ocean Engineering","volume":"322 ","pages":"Article 120514"},"PeriodicalIF":4.6,"publicationDate":"2025-02-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"143167211","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Twin propeller scour in noncohesive seabed with different quay wall configurations

IF 4.6 2区工程技术 Q1 ENGINEERING, CIVIL

Ocean Engineering

Pub Date : 2025-02-02 DOI: 10.1016/j.oceaneng.2025.120554

Amina Suljevic, Erdal Kesgin

Propeller-induced scour presents a significant challenge to the structural integrity of seabeds near quay walls. This study explores the scour phenomena produced by co-rotating twin propeller under different quay wall configurations on a noncohesive seabed. Laboratory experiments were performed using sand with a median grain size (d₅₀ = 1.2) and within a densimetric Froude number range of 4.71–6.23. The study also explores the influence of propeller spacing, speeds, and gap distances on scour characteristics. Under unconfined conditions, the scour profiles generated by twin propellers with spacings of two and three times the propeller diameter (D_p) were similar to those observed with single propellers, albeit with increased scour depths. For these propeller spacings, similar scour hole formation (single scour hole) was also observed and the width of the scour hole is greater in proportion to its length in the twin propeller tests. Novel empirical equations were derived to predict maximum scour depths for no-wall, vertical, and parallel quay wall conditions. These equations demonstrated strong correlation with experimental data, achieving determination coefficients of 0.99, 0.99, and 0.98, respectively. The findings contribute to the understanding of twin-propeller scour dynamics and provide practical tools for designing and assessing quay wall stability in ports.

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